diff --git a/ROMFS/px4fmu_common/init.d/rc.sensors b/ROMFS/px4fmu_common/init.d/rc.sensors
index 66091b2033..7f0f5a53fa 100644
--- a/ROMFS/px4fmu_common/init.d/rc.sensors
+++ b/ROMFS/px4fmu_common/init.d/rc.sensors
@@ -103,6 +103,12 @@ then
 	teraranger start -a
 fi
 
+# Possible pmw3901 optical flow sensor
+if param greater SENS_EN_PMW3901 0
+then
+	pmw3901 start
+fi
+
 ###############################################################################
 #                            End Optional drivers                             #
 ###############################################################################
diff --git a/boards/av/x-v1/init/rc.board_sensors b/boards/av/x-v1/init/rc.board_sensors
index 73a0111704..c4e4d64f70 100644
--- a/boards/av/x-v1/init/rc.board_sensors
+++ b/boards/av/x-v1/init/rc.board_sensors
@@ -12,10 +12,9 @@ lsm303agr -R 4 start
 
 ms4525_airspeed -T 4515 -b 3 start
 
-# try to autostart pmw3901 on SPI2 (external)
-if ! pmw3901 start
+if ! param greater SENS_EN_PMW3901 0
 then
-	# if pmw3901 failed to start, try starting the adis16497 (SPI2)
+	# try to start adis16497 only if pmw3901 isn't enabled, or parameter doesn't exists
 	adis16497 start
 fi
 
diff --git a/boards/bitcraze/crazyflie/init/rc.board_sensors b/boards/bitcraze/crazyflie/init/rc.board_sensors
index 929fb5268c..5858577085 100644
--- a/boards/bitcraze/crazyflie/init/rc.board_sensors
+++ b/boards/bitcraze/crazyflie/init/rc.board_sensors
@@ -12,4 +12,3 @@ lps25h start
 
 # Optical flow deck
 vl53lxx start
-pmw3901 start
diff --git a/boards/px4/fmu-v4/init/rc.board_sensors b/boards/px4/fmu-v4/init/rc.board_sensors
index abe322564a..d44dba215e 100644
--- a/boards/px4/fmu-v4/init/rc.board_sensors
+++ b/boards/px4/fmu-v4/init/rc.board_sensors
@@ -68,5 +68,3 @@ then
 	# BMI160 internal SPI bus
 	bmi160 start
 fi
-
-pmw3901 start
diff --git a/boards/px4/fmu-v5/init/rc.board_sensors b/boards/px4/fmu-v5/init/rc.board_sensors
index 0de253d7c9..8428d8b878 100644
--- a/boards/px4/fmu-v5/init/rc.board_sensors
+++ b/boards/px4/fmu-v5/init/rc.board_sensors
@@ -24,9 +24,3 @@ lis3mdl -X start
 
 # Possible internal compass
 ist8310 -C -b 5 start
-
-# Possible pmw3901 optical flow sensor
-pmw3901 start
-
-# Internal SPI
-ms5611 -s start
diff --git a/boards/px4/fmu-v5x/init/rc.board_sensors b/boards/px4/fmu-v5x/init/rc.board_sensors
index c86192a537..1649e56273 100644
--- a/boards/px4/fmu-v5x/init/rc.board_sensors
+++ b/boards/px4/fmu-v5x/init/rc.board_sensors
@@ -31,6 +31,3 @@ bmm150 start
 # Possible internal Barro
 bmp388 -I start
 #bmp388 -J start fixme
-
-# Possible pmw3901 optical flow sensor
-pmw3901 start
diff --git a/src/drivers/optical_flow/pmw3901/parameters.c b/src/drivers/optical_flow/pmw3901/parameters.c
new file mode 100644
index 0000000000..74e9a48266
--- /dev/null
+++ b/src/drivers/optical_flow/pmw3901/parameters.c
@@ -0,0 +1,42 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2019 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * PMW3901 Optical Flow
+ *
+ * @reboot_required true
+ *
+ * @boolean
+ * @group Sensors
+ */
+PARAM_DEFINE_INT32(SENS_EN_PMW3901, 0);